The company has patented a system in which the autonomous vehicles would be able to display messages to pedestrians and other drivers.
Alternatives to a robotic arm include a warning sound or message, flashing lights or electronic signage.
One sign outlined in the patent document includes a pedestrian symbol with a line through it, indicating that it is not safe to cross the road.
Google admits in the paperwork – filed in 2012 and recently granted – that communication with pedestrians is a weak spot for its cars.
"Other than signalling devices typical to non-autonomous vehicles, such as turn signals, head lights, high beams, brake lights, reverse lights, and some audible signals (horns, reverse light beepers, etc), autonomous vehicles lack the capability to directly communicate the vehicle’s future behaviour," it says.
"Simply stopping a vehicle without these driver-initiated signals may not be sufficiently reassuring to the pedestrian that it is indeed safe to cross."
The system for alerting pedestrians was also outlined.
It said: "The vehicle may include sensors which detect an object such as a pedestrian attempting or about to cross the roadway in front of the vehicle.
"The vehicle’s computer may then determine the correct way to respond to the pedestrian.
"For example, the computer may determine that the vehicle should stop or slow down, yield, or stop if it is safe to do so.
"The vehicle may then provide a notification to the pedestrian of what the vehicle is going to or is currently doing.
"For example, the vehicle may include a physical signalling device, an electronic sign or lights, a speaker for providing audible notifications."
A patented concept does not mean something will definitely go into production.
However it does seem likely that Google will find the system useful in its future endeavours with autonomous vehicles.
The firm's self-driving cars have already travelled more than a million miles in tests.
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